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<div class="title">finger_logger.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// BSD 3-Clause License</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">// Copyright (C) 2018-2019, Max Planck Gesellschaft</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">// Copyright note valid unless otherwise stated in individual files.</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">// All rights reserved.</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"></span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="preprocessor">#pragma once</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;</div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="preprocessor">#include &lt;fstream&gt;</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#include &lt;iostream&gt;</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;</div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#include &lt;chrono&gt;</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;</div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="preprocessor">#include &lt;mpi_cpp_tools/basic_tools.hpp&gt;</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="preprocessor">#include &lt;mpi_cpp_tools/dynamical_systems.hpp&gt;</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="preprocessor">#include &lt;mpi_cpp_tools/math.hpp&gt;</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="preprocessor">#include &lt;real_time_tools/process_manager.hpp&gt;</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="preprocessor">#include &lt;real_time_tools/thread.hpp&gt;</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="preprocessor">#include &lt;real_time_tools/threadsafe/threadsafe_timeseries.hpp&gt;</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="preprocessor">#include &lt;real_time_tools/timer.hpp&gt;</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="preprocessor">#include &lt;robot_interfaces/finger_types.hpp&gt;</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacerobot__interfaces.html">robot_interfaces</a></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;{</div><div class="line"><a name="l00029"></a><span class="lineno"><a class="line" href="classrobot__interfaces_1_1FingerLogger.html">   29</a></span>&#160;<span class="keyword">class </span><a class="code" href="classrobot__interfaces_1_1FingerLogger.html">FingerLogger</a></div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;{</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;    <span class="keyword">typedef</span> FingerTypes::Action Action;</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;    <span class="keyword">typedef</span> FingerTypes::Observation Observation;</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;    <span class="keyword">typedef</span> <a class="code" href="structrobot__interfaces_1_1RobotBackend_1_1Status.html">FingerTypes::Status</a> Status;</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;    <span class="keywordtype">int</span> block_size_;</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;    <span class="keywordtype">long</span> <span class="keywordtype">int</span> index_;</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;    <span class="keywordtype">bool</span> destructor_was_called_;</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;    std::ofstream output_file_;</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;    std::shared_ptr&lt;robot_interfaces::RobotData&lt;Action, Observation, Status&gt;&gt;</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;        logger_data_;</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;    std::string output_file_name_;</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;    <a class="code" href="classrobot__interfaces_1_1FingerLogger.html">FingerLogger</a>(std::shared_ptr&lt;</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;                     <a class="code" href="classrobot__interfaces_1_1RobotData.html">robot_interfaces::RobotData&lt;Action, Observation, Status&gt;</a>&gt;</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;                     robot_data,</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;                 <span class="keywordtype">int</span> block_size,</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;                 std::string filename)</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;        : block_size_(block_size),</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;          destructor_was_called_(<span class="keyword">false</span>),</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;          logger_data_(robot_data),</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;          output_file_name_(filename)</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    {</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;        thread_ = std::make_shared&lt;real_time_tools::RealTimeThread&gt;();</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    }</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    <span class="keyword">virtual</span> ~<a class="code" href="classrobot__interfaces_1_1FingerLogger.html">FingerLogger</a>()</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    {</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;        destructor_was_called_ = <span class="keyword">true</span>;</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;        thread_-&gt;join();</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    }</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    <span class="keyword">static</span> <span class="keywordtype">void</span> *write(<span class="keywordtype">void</span> *instance_pointer)</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    {</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;        ((<a class="code" href="classrobot__interfaces_1_1FingerLogger.html">FingerLogger</a> *)(instance_pointer))-&gt;write();</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;        <span class="keywordflow">return</span> <span class="keyword">nullptr</span>;</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    }</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    <span class="keywordtype">void</span> write()</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    {</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;        output_file_.open(output_file_name_);</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;        output_file_ &lt;&lt; <span class="stringliteral">&quot;# &quot;</span></div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;                     &lt;&lt; <span class="stringliteral">&quot;[Timestamp]&quot;</span></div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;                     &lt;&lt; <span class="stringliteral">&quot;,&quot;</span></div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;                     &lt;&lt; <span class="stringliteral">&quot;(Current Index)&quot;</span></div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;                     &lt;&lt; <span class="stringliteral">&quot;,&quot;</span></div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;                     &lt;&lt; <span class="stringliteral">&quot; {O} Position J1 &quot;</span></div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;                     &lt;&lt; <span class="stringliteral">&quot;,&quot;</span></div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;                     &lt;&lt; <span class="stringliteral">&quot; {O} Position J2 &quot;</span></div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;                     &lt;&lt; <span class="stringliteral">&quot;,&quot;</span></div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;                     &lt;&lt; <span class="stringliteral">&quot; {O} Position J3 &quot;</span></div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;                     &lt;&lt; <span class="stringliteral">&quot;,&quot;</span></div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;                     &lt;&lt; <span class="stringliteral">&quot; {O} Velocity J1 &quot;</span></div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;                     &lt;&lt; <span class="stringliteral">&quot;,&quot;</span></div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;                     &lt;&lt; <span class="stringliteral">&quot; {O} Velocity J2 &quot;</span></div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;                     &lt;&lt; <span class="stringliteral">&quot;,&quot;</span></div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;                     &lt;&lt; <span class="stringliteral">&quot; {O} Velocity J3 &quot;</span></div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;                     &lt;&lt; <span class="stringliteral">&quot;,&quot;</span></div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;                     &lt;&lt; <span class="stringliteral">&quot; {O} Torque J1 &quot;</span></div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;                     &lt;&lt; <span class="stringliteral">&quot;,&quot;</span></div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;                     &lt;&lt; <span class="stringliteral">&quot; {O} Torque J2 &quot;</span></div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;                     &lt;&lt; <span class="stringliteral">&quot;,&quot;</span></div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;                     &lt;&lt; <span class="stringliteral">&quot; {O} Torque J3 &quot;</span></div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;                     &lt;&lt; <span class="stringliteral">&quot;,&quot;</span></div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;                     &lt;&lt; <span class="stringliteral">&quot; {A} Applied J1 &quot;</span></div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;                     &lt;&lt; <span class="stringliteral">&quot;,&quot;</span></div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;                     &lt;&lt; <span class="stringliteral">&quot; {A} Applied J2 &quot;</span></div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;                     &lt;&lt; <span class="stringliteral">&quot;,&quot;</span></div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;                     &lt;&lt; <span class="stringliteral">&quot; {A} Applied J3 &quot;</span></div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;                     &lt;&lt; <span class="stringliteral">&quot;,&quot;</span></div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;                     &lt;&lt; <span class="stringliteral">&quot; {A} Desired J1 &quot;</span></div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;                     &lt;&lt; <span class="stringliteral">&quot;,&quot;</span></div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;                     &lt;&lt; <span class="stringliteral">&quot; {A} Desired J2 &quot;</span></div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;                     &lt;&lt; <span class="stringliteral">&quot;,&quot;</span></div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;                     &lt;&lt; <span class="stringliteral">&quot; {A} Desired J3 &quot;</span></div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;                     &lt;&lt; <span class="stringliteral">&quot;,&quot;</span></div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;                     &lt;&lt; <span class="stringliteral">&quot; Status &quot;</span> &lt;&lt; std::endl;</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;        output_file_.close();</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;        <span class="keywordflow">while</span> (!destructor_was_called_ &amp;&amp;</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;               !(logger_data_-&gt;desired_action-&gt;length() &gt; 0))</div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;        {</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;            real_time_tools::Timer::sleep_until_sec(0.1);</div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;        }</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;</div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;        index_ = logger_data_-&gt;observation-&gt;newest_timeindex();</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">long</span> <span class="keywordtype">int</span> t = 0; !destructor_was_called_; t++)</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;        {</div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;            <span class="keywordflow">if</span> (index_ + block_size_ ==</div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;                logger_data_-&gt;observation-&gt;newest_timeindex())</div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;            {</div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;                output_file_.open(output_file_name_, std::ios_base::app);</div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;</div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;<span class="preprocessor">#ifdef VERBOSE</span></div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;                <span class="keyword">auto</span> t1 = std::chrono::high_resolution_clock::now();</div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;                <span class="keywordflow">for</span> (<span class="keywordtype">long</span> <span class="keywordtype">int</span> j = index_; j &lt; index_ + block_size_; j++)</div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;                {</div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;                    <span class="keywordflow">try</span></div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;                    {</div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;                        Observation observation =</div><div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;                            (*logger_data_-&gt;observation)[j];</div><div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;                        Action applied_action =</div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;                            (*logger_data_-&gt;applied_action)[j];</div><div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;                        Action desired_action =</div><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;                            (*logger_data_-&gt;desired_action)[j];</div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;                        Status status = (*logger_data_-&gt;status)[j];</div><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;</div><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;                        output_file_</div><div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;                            &lt;&lt; std::fixed</div><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;                            &lt;&lt; logger_data_-&gt;observation-&gt;timestamp_s(j)</div><div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;                            &lt;&lt; <span class="stringliteral">&quot; , &quot;</span> &lt;&lt; j &lt;&lt; <span class="stringliteral">&quot; , &quot;</span> &lt;&lt; observation.position[0]</div><div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;                            &lt;&lt; <span class="stringliteral">&quot; , &quot;</span> &lt;&lt; observation.position[1] &lt;&lt; <span class="stringliteral">&quot; , &quot;</span></div><div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;                            &lt;&lt; observation.position[2] &lt;&lt; <span class="stringliteral">&quot; , &quot;</span></div><div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;                            &lt;&lt; observation.velocity[0] &lt;&lt; <span class="stringliteral">&quot; , &quot;</span></div><div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;                            &lt;&lt; observation.velocity[1] &lt;&lt; <span class="stringliteral">&quot; , &quot;</span></div><div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;                            &lt;&lt; observation.velocity[2] &lt;&lt; <span class="stringliteral">&quot; , &quot;</span></div><div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;                            &lt;&lt; observation.torque[0] &lt;&lt; <span class="stringliteral">&quot; , &quot;</span></div><div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;                            &lt;&lt; observation.torque[1] &lt;&lt; <span class="stringliteral">&quot; , &quot;</span></div><div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;                            &lt;&lt; observation.torque[2] &lt;&lt; <span class="stringliteral">&quot; , &quot;</span></div><div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;                            &lt;&lt; applied_action.torque[0] &lt;&lt; <span class="stringliteral">&quot; , &quot;</span></div><div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;                            &lt;&lt; applied_action.torque[1] &lt;&lt; <span class="stringliteral">&quot; , &quot;</span></div><div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;                            &lt;&lt; applied_action.torque[2] &lt;&lt; <span class="stringliteral">&quot; , &quot;</span></div><div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;                            &lt;&lt; desired_action.torque[0] &lt;&lt; <span class="stringliteral">&quot; , &quot;</span></div><div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;                            &lt;&lt; desired_action.torque[1] &lt;&lt; <span class="stringliteral">&quot; , &quot;</span></div><div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;                            &lt;&lt; desired_action.torque[2] &lt;&lt; <span class="stringliteral">&quot; , &quot;</span></div><div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;                            &lt;&lt; status.action_repetitions &lt;&lt; std::endl;</div><div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;                    }</div><div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;</div><div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;                    <span class="keywordflow">catch</span> (<span class="keyword">const</span> std::exception &amp;e)</div><div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;                    {</div><div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;                        std::cout &lt;&lt; <span class="stringliteral">&quot;Trying to access index older than the &quot;</span></div><div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;                                     <span class="stringliteral">&quot;oldest! Skipping ahead.&quot;</span></div><div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;                                  &lt;&lt; std::endl;</div><div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;                    }</div><div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;</div><div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;<span class="comment">// to check whether the data being requested to be logged is in the buffer of</span></div><div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;<span class="comment">// the timeseries and inspect effect of delays</span></div><div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;<span class="preprocessor">#ifdef VERBOSE</span></div><div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;                    std::cout &lt;&lt; <span class="stringliteral">&quot;Index trying to access, oldest index in the &quot;</span></div><div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;                                 <span class="stringliteral">&quot;buffer: &quot;</span></div><div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;                              &lt;&lt; j &lt;&lt; <span class="stringliteral">&quot;,&quot;</span></div><div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;                              &lt;&lt; logger_data_-&gt;observation-&gt;oldest_timeindex()</div><div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;                              &lt;&lt; std::endl;</div><div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;                }</div><div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;</div><div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;<span class="comment">// to print the time taken for one block of data to be logged.</span></div><div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;<span class="preprocessor">#ifdef VERBOSE</span></div><div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;                <span class="keyword">auto</span> t2 = std::chrono::high_resolution_clock::now();</div><div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;                <span class="keyword">auto</span> duration =</div><div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;                    std::chrono::duration_cast&lt;std::chrono::microseconds&gt;(t2 -</div><div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;                                                                          t1)</div><div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;                        .count();</div><div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;</div><div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;                std::cout &lt;&lt; <span class="stringliteral">&quot;Time taken for one block of data to be logged: &quot;</span></div><div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;                          &lt;&lt; duration &lt;&lt; std::endl;</div><div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;</div><div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;                index_ += block_size_;</div><div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;</div><div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;                output_file_.close();</div><div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;            }</div><div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;        }</div><div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;    }</div><div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;</div><div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;    <span class="keywordtype">void</span> run()</div><div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;    {</div><div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;        thread_-&gt;create_realtime_thread(&amp;FingerLogger::write, <span class="keyword">this</span>);</div><div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;    }</div><div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;</div><div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;<span class="keyword">private</span>:</div><div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;    std::shared_ptr&lt;real_time_tools::RealTimeThread&gt; thread_;</div><div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;};</div><div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;</div><div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;}  <span class="comment">// namespace robot_interfaces</span></div><div class="ttc" id="classrobot__interfaces_1_1RobotData_html"><div class="ttname"><a href="classrobot__interfaces_1_1RobotData.html">robot_interfaces::RobotData</a></div><div class="ttdoc">Contains all the input and output data of the robot. </div><div class="ttdef"><b>Definition:</b> robot_data.hpp:50</div></div>
<div class="ttc" id="structrobot__interfaces_1_1RobotBackend_1_1Status_html"><div class="ttname"><a href="structrobot__interfaces_1_1RobotBackend_1_1Status.html">robot_interfaces::RobotBackend::Status</a></div><div class="ttdef"><b>Definition:</b> robot_backend.hpp:40</div></div>
<div class="ttc" id="namespacerobot__interfaces_html"><div class="ttname"><a href="namespacerobot__interfaces.html">robot_interfaces</a></div><div class="ttdef"><b>Definition:</b> __init__.py:1</div></div>
<div class="ttc" id="classrobot__interfaces_1_1FingerLogger_html"><div class="ttname"><a href="classrobot__interfaces_1_1FingerLogger.html">robot_interfaces::FingerLogger</a></div><div class="ttdef"><b>Definition:</b> finger_logger.hpp:29</div></div>
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